void CAxisInterpOp::ComputeWeights
(
XSI::MATH::CQuaternion& qbone2,
unsigned long size, // number of triggers
double* aweights,
double* atriggers,
double* atolerances
)
{
XSI::MATH::CQuaternion q2;
#ifdef _DEBUG_COMPUTEWEIGHTS
Application app;
wchar_t wszBuf[256];
swprintf( wszBuf, L"ComputeWeights qbone2->[%f V(%f,%f,%f)]", qbone2.GetW(), qbone2.GetX(), qbone2.GetY(), qbone2.GetZ() );
app.LogMessage( (const wchar_t*)wszBuf );
double x, y, z;
qbone2.GetXYZAnglesValues(x,y,z);
swprintf( wszBuf, L"ComputeWeights qbone2->R(%f,%f,%f)]", r2d(x),r2d(y),r2d(z) );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
// dim tsec : tsec = timer
// fntrace "ComputeWeights("&j&") bone2 angle: " & fnstr(q2rot(qbone2))
double sumw(0), weight(0), dot_product(0), tolerance(0);
for ( unsigned long j=0,i=0; i < size*3; i=i+3,j=j+1 )
{
tolerance = d2r(atolerances[j]);
#ifdef _DEBUG_COMPUTEWEIGHTS
swprintf( wszBuf, L"trigger(%d) ori: (%f,%f,%f)", j, atriggers[i], atriggers[i+1], atriggers[i+2] );
app.LogMessage( (const wchar_t*)wszBuf );
swprintf( wszBuf, L"trigger(%d) tolerance: %f", j, tolerance );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
q2.SetFromXYZAnglesValues( d2r(atriggers[i]), d2r(atriggers[i+1]), d2r(atriggers[i+2]) );
// compute dot product of quaternion
dot_product =
qbone2.GetX() * q2.GetX() +
qbone2.GetY() * q2.GetY() +
qbone2.GetZ() * q2.GetZ() +
qbone2.GetW() * q2.GetW();
#ifdef _DEBUG_COMPUTEWEIGHTS
swprintf( wszBuf, L"trigger(%d) dot: %f", j, dot_product );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
if ( tolerance == 0 ) {
weight = 0;
} else {
#ifdef _DEBUG_COMPUTEWEIGHTS
// swprintf( wszBuf, L"ComputeWeights(%d) _acos(%f) = %f", j, fabs(dot_product), _acos(fabs(dot_product)) );
// app.LogMessage( (const wchar_t*)wszBuf );
swprintf( wszBuf, L"trigger(%d) acos(%f) = %f", j, fabs(dot_product), acos(fabs(dot_product)) );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
weight = 1.0 - (2.0 * acos(fabs(dot_product)) / tolerance);
#ifdef _DEBUG_COMPUTEWEIGHTS
swprintf( wszBuf, L"trigger(%d) weight: %f", j, weight );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
if ( weight < 0 ) {
weight = 0;
}
}
#ifdef _DEBUG_COMPUTEWEIGHTS
swprintf( wszBuf, L"trigger(%d) computed weight: %f", j, weight );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
aweights[j] = weight;
// fntrace "ComputeWeights("&j&") raw: " & aW(j)
sumw=sumw+aweights[j];
}
// make sure sum of weights totals 1
if ( sumw != 0 )
{
for ( unsigned long i=0; i < size; i++ )
{
if ( aweights[i] != 0 ) {
aweights[i] = aweights[i] / sumw;
//fntrace "ComputeWeights("&i&") normalized: " & aW(i)
}
#ifdef _DEBUG_COMPUTEWEIGHTS
swprintf( wszBuf, L"trigger(%d) normalized = %f", i, aweights[i] );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
}
}
//fntrace "AxisInterpOp::ComputeWeights: took " & timer-tsec & " seconds"
}
bool bulletSimulation::SetFrame(int in_Frame)
{
// see if we have to reset the world
if(in_Frame <= 0)
{
ResetWorld();
return true;
}
// now let's skip if we already have that frame or the interval>5 - we don't want bullet to compute the whole sequence if you move to the last frame.
if(mLastFrame >= in_Frame || (in_Frame-mLastFrame)>5)
{
return false;
}
mChangingFrame = true;
// if this is not the first frame, let's update all rbd!
for(btRigidBodyIt it = mRigidBodies.begin();it!=mRigidBodies.end();it++)
{
// skip corrupt bodies
if(it->second->body==NULL)
continue;
if(it->first.secondary != -1)
continue;
btCollisionShape * shape = (btBoxShape*)it->second->body->getCollisionShape();
if(shape != NULL)
{
// refresh the kine ptr
it->second->kine.Set(it->second->kine.GetAsText());
XSI::MATH::CTransformation xf = XSI::KinematicState(it->second->kine).GetTransform();//(float)in_Frame);
shape->setLocalScaling(btVector3(xf.GetSclX(),xf.GetSclY(),xf.GetSclZ()));
// skip non valid ops
if(!it->second->op.IsValid())
continue;
// update the mass an inertia
it->second->mass = XSI::CustomOperator(it->second->op).GetParameterValue(L"mass");
btVector3 inertia(0,0,0);
if(it->second->mass > 0.0f)
shape->calculateLocalInertia(it->second->mass,inertia);
it->second->body->setMassProps(it->second->mass,inertia);
// if we are passive rigid body, let's update the transform
if(it->second->mass == 0.0f)
{
btDefaultMotionState * motionState = (btDefaultMotionState*)it->second->body->getMotionState();
if(motionState != NULL)
{
btTransform transform;
transform.setOrigin(btVector3(xf.GetPosX(),xf.GetPosY(),xf.GetPosZ()));
XSI::MATH::CQuaternion q = xf.GetRotationQuaternion();
transform.setRotation(btQuaternion(q.GetX(),q.GetY(),q.GetZ(),q.GetW()));
it->second->body->proceedToTransform( transform );
}
}
}
}
// step to the given frame
if(in_Frame > 0)
{
while(in_Frame > mLastFrame)
{
float dt=(1.0f/mFps)/(float)mSubSteps;
//Step every subframe
for (int i=0;i<mSubSteps;i++)
mDynamicsWorld->stepSimulation(dt,0,1.0f/mFps);
mLastFrame++;
}
}
mLastFrame = in_Frame;
mChangingFrame = false;
return true;
}